JP2010158123A - Controller of electric motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress cogging torque with an excellent response while simplifying the control for creating a cogging torque table. <P>SOLUTION: The controller 10 includes a rotation angle detection unit 4 which detects the rotation angle of a permanent magnet motor 3, an angular acceleration calculation unit 13 which calculates the angular acceleration of the permanent magnet motor 3 by carrying out second order differentiation of the rotation angle, a cogging torque calculation unit 30 which calculates the cogging torque of the permanent magnet motor 3 by carrying out multiplication of the angular acceleration and the moment of inertia of the permanent magnet motor 3, a table creation unit 20 which creates a cogging torque table of every predetermined rotation angle and the cogging torque corresponding thereto, and a signal correction unit 12 which corrects the signal for driving the permanent magnet motor 3 so that the cogging torque component of the permanent magnet motor 3 is canceled based on the cogging torque table. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a motor control device used in, for example, an automobile test apparatus.

  For example, a dynamo is used instead of an engine in an automobile test apparatus. For the dynamo, a PM (Permanent Magnet) motor that functions as a pseudo load device is used, and control is performed by giving a torque command value with constant torque and constant rotation speed to the PM motor. If it is a normal torque command, only a mechanical loss is caused. However, when an actual vehicle speed is assumed, a cogging torque is generated due to the structure of the PM motor.

In order to suppress this cogging torque component, for example, it is conceivable that compensation data for compensating torque ripple is obtained in advance and converted into table data to correct the torque command (see, for example, Patent Document 1).
JP 2007-267465 A (paragraph [0016])

  However, in the above-mentioned Patent Document 1, in creating the compensation signal generation table, the rotor rotation angle is obtained from the PM motor, the torque current is obtained from the inverter, etc. A dimension for obtaining the rotor rotation angle and a dimension for obtaining the torque current are required, and the table is created in two dimensions. For this reason, there are problems such as complicated control for table creation and poor responsiveness at the time of table creation.

  In view of the circumstances as described above, it is an object of the present invention to provide a motor control device that is simple in control for creating a cogging torque table, has excellent responsiveness, and can suppress cogging torque. .

The motor control apparatus according to the present invention includes a rotation angle detection unit, an angular acceleration calculation unit, a cogging torque calculation unit, a table creation unit, and a signal correction unit.
The rotation angle detection unit detects a rotation angle of a motor that obtains torque by electromagnetic action.
The angular acceleration calculation unit calculates the angular acceleration of the motor by performing second-order differentiation on the rotation angle.
The cogging torque calculation unit calculates the cogging torque of the motor by multiplying the angular acceleration and the inertia moment of the rotor of the motor. Here, the moment of inertia may be preset according to the type of motor, for example, or may be set according to each motor.
The table creation unit creates a cogging torque table in which the rotation angle and the cogging torque corresponding to the rotation angle correspond to each predetermined rotation angle. Here, every predetermined rotation angle is, for example, about 10 °, but the present invention is not limited to this.
The signal correction unit corrects a signal for driving the motor based on the cogging torque table so that the cogging torque component of the motor is canceled.

In the present invention, the rotation angle detector detects the rotation angle of the motor, and the detected rotation angle is second-order differentiated, that is, the angular acceleration of the motor is calculated by calculation. A cogging torque table is created based on these rotation angles and the angular acceleration obtained by the calculation. That is, in the present invention, the cogging torque table is created based on the output of one system from the rotation angle detector, and it is not necessary to detect the torque current in another system, so the control for creating the table is simple. And it becomes excellent in responsiveness.
In the present invention, the signal for driving the motor is corrected so that the cogging torque component is canceled based on the cogging torque table created in this way. Therefore, for example, by creating a cogging torque table for each motor having individual differences, the cogging torque can be suppressed even if the motors have individual differences.

The table creating unit is configured for each predetermined rotation angle from a first reference rotation angle position of the motor and from at least a second rotation angle reference position shifted by a predetermined angle from the first reference rotation angle position. For each predetermined rotation angle, a cogging torque table in which the rotation angle and the cogging torque corresponding to the rotation angle correspond to each other may be created.
Since the cogging torque table is created by shifting the detection rotation angle for each rotation, the resolution is improved and the test accuracy is further improved. Here, the predetermined angle shifted from the first reference rotation angle position is, for example, about 2 °, but the present invention is not limited to this.

The table creation unit obtains the cogging torque corresponding to each rotation angle a plurality of times for each predetermined rotation angle, and generates a cogging torque table based on an average value of the plurality of cogging torques corresponding to each rotation angle. You may make it create.
Since the cogging torque at a predetermined rotation angle of the motor is obtained a plurality of times and averaged to create a cogging torque table, data reliability is improved and test accuracy is further improved.

The cogging torque between the first rotation angle and the next second rotation angle in the cogging torque table is defined as the cogging torque corresponding to the first rotation angle and the cogging corresponding to the second rotation angle. An interpolation means for obtaining the torque by linear interpolation may be provided.
Thereby, a correction signal can be obtained even at a rotation angle that is not actually detected.

  You may make it comprise the low-pass filter which removes a high frequency component from the signal component of the angular acceleration calculated by the said angular acceleration calculation part. Here, the high frequency component means a frequency at which the waveform of the signal component of the angular acceleration rides as noise.

  By providing such a low-pass filter, it is possible to obtain a cogging torque table having a cogging torque with an accurate value from which noise as a high frequency component is removed.

  According to the present invention, the control for creating the cogging torque table is simple and excellent in responsiveness, and the cogging torque can be suppressed.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram of a dynamo used in the automobile test apparatus according to the present embodiment.

  As shown in FIG. 1, the dynamo 1 includes an inverter 11, a PM (Permanent Magnet) motor 12, a resolver 13 as a rotation angle detection unit, and a dedicated controller 14 as a controller for the permanent magnet motor. .

  The inverter 11 controls the torque of the PM motor 12.

  The PM motor 12 is a load motor that functions as a pseudo-addition device, and its output is used for testing. In addition to the PM motor 12, any motor may be used as long as it is a motor that obtains torque by electromagnetic action and generates cogging torque due to the structure of the motor. A signal for torque control is supplied to the PM motor 12 by the inverter 11, and a corrected torque command signal corrected so that the cogging torque component of the PM motor 12 is canceled is input to the inverter 11.

  The resolver 13 detects the rotation angle of the PM motor 12. By using the resolver 13 as the rotation angle detection unit in particular, it is possible to detect the rotation angle in a low speed range satisfactorily.

  The dedicated controller 14 includes an angular acceleration calculation unit 141, a cogging torque detection circuit 142 as a cogging torque calculation unit, a control unit 143 as a table creation unit, an adder 144 as a signal correction unit, and a switch 145. .

  The angular acceleration calculation unit 141 calculates the angular acceleration by second-order differentiation of the rotation angle detected by the resolver 13.

  The adder 144 adds the cogging torque correction signal output from the control unit 143 to the torque command signal, and supplies the corrected torque command signal corrected to the inverter 11.

  The switch 145 is a switch that can be arbitrarily turned on and off manually by an operator, and controls whether or not the cogging torque correction signal obtained based on the adder 144 is supplied to the PM motor 12. Such a switch 145 may be turned on / off under the control of the control unit 143. When the cogging torque table is created, the switch 145 is in an off state. After creating the cogging torque table, the switch 145 is turned on, so that a cogging torque correction signal obtained based on the cogging torque table is output from the control unit 143 to the adder 144.

  The cogging torque detection circuit 142 is a circuit that converts the angular acceleration calculated by the angular acceleration calculation unit 141 into cogging torque.

  The cogging torque detection circuit 142 includes a low pass filter 1421 and a multiplier 1423.

  The low-pass filter 1421 removes noise by removing a high-frequency component from the angular acceleration signal component calculated by the angular acceleration calculation unit 141.

  The multiplier 1423 calculates the cogging torque by multiplying the inertia moment 1422 of the rotor of the PM motor 12 and the angular acceleration from which noise has been removed by the low-pass filter 1421.

  The control unit 143 receives the rotation angle detected by the resolver 13 and the cogging torque calculated by the cogging torque detection circuit 142, and creates a cogging torque table based on these.

  As illustrated in FIG. 2, the control unit 143 includes a CPU (Central Processing Unit) 1431, a RAM (Random Access Memory) 1432, and a ROM (Read Only Memory) 1433.

  The CPU 1431, RAM 1432, and ROM 1433 are connected to the bus 1434.

  In the CPU 1431, a program stored in the ROM 1433 is executed. The ROM 1433 stores a program that defines the processing of the CPU 1431. The RAM 1432 is a work area for processing, and functions as a table storage unit that stores the created cogging torque table. The ROM 1433 and the RAM 1432 are solid-state memories such as a semiconductor memory and a dielectric memory. For example, the table storage unit may be another recording medium such as a disk-shaped recording medium.

  Next, a procedure for creating a cogging torque table will be described with reference to FIG.

  First, with the switch 145 turned off, the PM motor 12 is operated at a constant torque (a constant torque command signal) without applying a correction to the torque command signal.

  With the PM motor 12 operating in this way, the rotational angle of the PM motor 12 is detected by the resolver 13 (step 301).

  The detected rotation angle is second-order differentiated by the angular acceleration calculation unit 141, and the rotation angular acceleration is calculated. The calculated rotational angular acceleration signal component is subjected to noise removal by a low-pass filter 1421, and the rotational angular acceleration from which the noise has been removed and the inertia moment 1422 of the rotor of the PM motor 12 are multiplied by a multiplier 1423, whereby cogging torque is obtained. Calculated. The calculated cogging torque is input to the control unit 143 (step 302).

  The controller 143 writes the cogging torque corresponding to the rotation angle in the cogging torque table shown in FIG. 4 (step 303).

  Cogging torque corresponding to the rotation angle θ of the PM motor 12 is input to the control unit 143 every predetermined rotation angle, for example, every 10 °. In the present embodiment, the rotational speed N of the PM motor 12 is set to one, and the detected rotational angle θ is in increments of 10 ° starting from 0 °.

  After step 303, it is determined whether or not the rotation angle θ is 360 ° (step 304). When the rotation angle θ is not 360 °, the process returns to step 301 and the detection of the rotation angle and the calculation of the cogging torque are repeated. When the rotation angle θ is 360 °, that is, when the PM motor 12 makes one rotation, the detection of the rotation angle and the calculation of the cogging torque are stopped.

  A cogging torque table in which the cogging torque at each rotation angle (every 10 °) obtained by rotating the PM motor 12 as described above is stored is created.

  When the dynamo 1 is actually operated, the switch 145 is turned on. Thereby, the cogging torque correction signal output from the control unit 143 is added to the torque command signal by the adder 144, and a corrected torque command signal is generated. The generated corrected torque command signal is supplied to the inverter 11.

  As described above, in this embodiment, the cogging torque table of the PM motor 12 is created in advance before the dynamo 1 is actually operated, and the cogging torque component is generated based on the cogging torque table when the dynamo 1 is actually operated. The correction torque command signal is obtained so that is canceled out. As a result, the cogging torque, which is a torque fluctuation component derived from the PM motor, is canceled, and an accurate test can be performed. Further, even if there is a variation (individual difference) in cogging torque between different PM motors, it is possible to suppress variation in accuracy in the test apparatus, particularly variation in test accuracy during an excessive state test.

  In the present embodiment, based on the rotation angle detected by the resolver and the data of the rotation angle, the rotation angular acceleration is calculated by calculation by second-order differentiation to create a cogging torque table, that is, one system of output from only the resolver The cogging torque table is created with the output from Therefore, the control for creating the cogging torque table is simple and excellent in responsiveness.

  In the above-described embodiment, the cogging torque between the first rotation angle (for example, 0 °) and the next second rotation angle (for example, 10 °) is the same as the cogging torque corresponding to the first rotation angle. The cogging torque corresponding to the second rotation angle may be obtained by linear interpolation.

The cogging torque by linear interpolation is obtained by processing on the CPU 1431 by a program of interpolation means incorporated in the ROM 1433. For example, the cogging torque at the rotation angle between the first rotation angle 0 ° and the second rotation angle 10 ° detected next is the cogging torque X0 corresponding to the first rotation angle 0 °, The cogging torque X10 corresponding to the detected second rotation angle 10 ° is linearly interpolated (for example, X0 + [(X10−X0) · n ° / (10 ° −0 °)]) (0 <n <10) Can be obtained. Such a linear interpolation value may be calculated, for example, during actual operation. Thereby, for example, in the above formula, a cogging torque can be obtained every n ° which is a predetermined rotation angle smaller than 10 °. That is, more accurate correction can be performed by a cogging table with a small amount of information.
(Second Embodiment)
In the first embodiment, when the cogging torque table is created, the PM motor 12 is rotated once. However, the PM motor 12 is rotated a plurality of times, and the cogging torque corresponding to a predetermined rotation angle is obtained a plurality of times. A cogging torque table may be created from an average value obtained by averaging. Hereinafter, a method for creating a cogging torque table in the present embodiment will be described with reference to FIGS. 2, 5, and 6. In addition, the same code | symbol is attached | subjected about the structure similar to 1st Embodiment, and since it is the same as that of 1st Embodiment about the description, it abbreviate | omits.

  FIG. 5 is a flowchart illustrating a procedure of a cogging torque table creation method according to the second embodiment. FIG. 6 is a cogging torque table according to the second embodiment.

  Hereinafter, the procedure for creating the cogging torque table will be described with reference to FIG.

  First, with the switch 145 turned off, the PM motor 12 is operated at a constant torque (a constant torque command signal) without correcting the torque command.

  In the state in which the PM motor 12 is operated in this way, the rotation angle of the PM motor 12 is detected by the resolver 13 (step 501).

  The detected rotation angle is second-order differentiated by the angular acceleration calculation unit 141, and the rotation angular acceleration is calculated. The calculated rotational angular acceleration signal component is denoised by a low-pass filter 1421, and the cogging torque is calculated by multiplying the rotational angular acceleration from which the noise has been removed and the inertia moment 1422 of the rotor of the PM motor by a multiplier 1423. Is done. The calculated cogging torque is input to the control unit 143 (step 502).

  The control unit 143 writes the cogging torque corresponding to the rotation angle in the cogging torque table shown in FIG. 6 (step 503).

  Cogging torque corresponding to the rotation angle θ of the PM motor 12 is input to the control unit 143 every predetermined angle (first rotation angle), for example, every 10 °. In the present embodiment, the rotational speed N of the PM motor 12 is rotated n (n represents an integer of 2 or more) times to create a cogging torque table. The rotational speed N can be set arbitrarily. As shown in FIG. 6, the detected rotation angle θ is the same for each rotation in increments of 10 ° starting from 0 °.

  After step 503, it is determined whether or not the rotation angle θ is 360 ° (step 504). When the rotation angle θ is not 360 °, the process returns to step 501, and the detection of the rotation angle and the calculation of the cogging torque are repeated again. If the rotation angle θ is 360 °, it is next determined whether N> n (step 505). Here, if N> n, the process returns to step 501 and the detection of the rotation angle and the calculation of the cogging torque are repeated again. When the rotation angle θ is 360 ° and N> n is not satisfied, that is, when N = n, the detection of the rotation angle and the calculation of the cogging torque are stopped.

Next, the control unit 143 averages the cogging torque obtained n times for each arbitrary rotation angle to create a cogging torque table. For example, as shown in FIG. 6, when the rotation angle is 0 °, the average value of the cogging torque is
(XN1,0 + XN2,0 + ... + XNn, 0) / n
Thus, the cogging torque calculated at each rotation can be obtained by averaging. Thereby, a cogging torque table in which the rotation angle and the average value of the cogging torque corresponding to the rotation angle correspond is created as shown in FIG.

  As described above, in the present embodiment, the PM motor 12 is rotated n times, and a cogging torque table storing the rotation angle and the average value of the cogging torque corresponding thereto is created.

  Also in this embodiment, as described in the first embodiment, the cogging torque at the rotation angle between the detected rotation angles may be obtained by linear interpolation.

As described above, in the present embodiment, the cogging torque at the predetermined rotation angle of the PM motor 12 is obtained a plurality of times, and averaged to create a cogging torque table, thereby improving data reliability, Test accuracy is further improved.
(Third embodiment)
In the second embodiment, when the cogging torque table is created, the PM motor 12 is rotated a plurality of times, and the rotation angle detected for each rotation is the same. However, the rotation angle detected for each rotation may be shifted and varied. Good. Hereinafter, description will be made with reference to FIGS. 2, 7, and 8. In addition, about the structure similar to the above-mentioned embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  FIG. 7 is a flowchart illustrating a procedure of a cogging torque table creation method according to the third embodiment. FIG. 8 is a cogging torque table according to the third embodiment.

  Hereinafter, a procedure for creating the cogging torque table will be described with reference to FIG.

  First, with the switch 145 turned off, the PM motor 12 is operated at a constant torque (a constant torque command signal) without correcting the torque command.

  With the PM motor 12 operating in this way, the rotational angle of the PM motor 12 is detected by the resolver 13 (step 701).

  The detected rotation angle is second-order differentiated by the angular acceleration calculation unit 141, and the rotation angular acceleration is calculated. The signal component of the calculated rotational angular acceleration is noise-removed by a low-pass filter 1421, and the cogging torque is calculated by multiplying the rotational angular acceleration from which noise has been removed and the inertia moment 1422 of the motor rotor by a multiplier 1423. . The calculated cogging torque is input to the control unit 143 (step 702).

  In the control unit 143, the cogging torque corresponding to the rotation angle is written in the cogging torque table shown in FIG. In this embodiment, the rotational speed N of the PM motor 12 is, for example, 6 times, the rotational angle θ is shifted by 2 ° between one rotation and the next rotation, and cogging torque corresponding to each rotation angle is input. A torque table is created. Note that the rotation speed N and the shifting angle can be arbitrarily set.

  As shown in FIG. 8, in the first rotation (N = 1), the cogging torque was calculated every predetermined rotation angle, for example, every 10 °. In the first rotation, the detected rotation angle θ is set in increments of 10 ° starting from 0 ° as the first reference position.

  The rotation of the second time (N = 2) was started from a position shifted by 12 ° from 360 ° which is the last detected rotation angle θ of the first rotation. That is, the cogging torque was calculated for each predetermined rotation angle (here, 10 °) from the second reference position, which was shifted from the first reference position, 0 °, by a predetermined angle (here, 12 °). The rotation angle θ detected by the second rotation was set in increments of 10 ° starting from 12 °.

  In the third rotation (N = 3), the rotation was started from 2 °, which was shifted by 10 ° from 352 °, which is the final detection angle θ of the second rotation. The rotation angle detected next was changed from 2 °, which is the first detected rotation angle θ of the third rotation, to 12 °, and 14 °, and the cogging torque was calculated every 10 ° thereafter.

  In the fourth rotation (N = 4), the rotation is started from 4 ° shifted by 10 ° from 354 ° which is the final detection angle θ of the third rotation, and the rotation angle detected next. Is 12 ° shifted from 4 °, which is the first detected rotation angle θ of the fourth rotation, to 16 °. Thereafter, the cogging torque was calculated every 10 °.

  The rotation of the fifth time (N = 5) starts from 6 °, shifted by 10 ° from the last detected angle θ of the fourth rotation of 356 °, and is detected next. The angle was set to 18 °, which is 12 ° shifted from 6 °, which is the first detected rotation angle θ of the fifth rotation. Thereafter, the cogging torque was calculated every 10 °.

  In the sixth rotation (N = 6), the rotation is started from 8 ° shifted by 10 ° from 358 ° which is the final detection angle θ of the fifth rotation, and the rotation angle detected next. Is 20 °, which is 12 ° shifted from 8 °, which is the first detected rotation angle θ of the sixth rotation. Thereafter, the cogging torque was calculated every 10 °.

  Thus, by shifting the detected rotation angle by a predetermined angle for each rotation, a cogging torque corresponding to the rotation angle of 2 ° can be finally obtained. The obtained cogging torque is input to the control unit 143, and a cogging torque table corresponding to the rotation angle is created. It is possible to obtain the same result by rotating the PM motor once by setting the detected rotation angle interval to 2 °. However, if the rotation interval is small, it is difficult to control the rotation of the PM motor, and an accurate cogging torque is obtained. I can't. On the other hand, in the present embodiment, the detected rotation angle interval is 10 °, and when the rotation angle is shifted, the interval is as large as 12 °. Therefore, the rotation control of the PM motor can be performed easily and accurately.

  After step 703, it is determined whether or not the rotation angle θ is 360 ° (step 704). When the rotation angle θ is not 360 °, the process returns to step 701, and the detection of the rotation angle and the calculation of the cogging torque are repeated. If the rotation angle θ is 360 °, it is next determined whether N = 1 (step 705). If N = 1, the process returns to step 701, and the detection of the rotation angle and the calculation of the cogging torque are repeated again. When the rotation angle θ is 360 ° and N is not 1, detection of the rotation angle and calculation of the cogging torque are stopped.

  A cogging torque table in which the cogging torque at each rotation angle (every 2 ° which is a predetermined rotation angle) obtained by rotating the PM motor 12 once as described above is created.

  In the present embodiment, the cogging torque corresponding to the rotation angle every 10 ° starting from 20 ° is obtained in the first rotation and the sixth rotation, but the sixth detection rotation angle is 8 °. The cogging torque table creation may be terminated at the time of °. Alternatively, in this embodiment, the cogging torque corresponding to the rotation angle every 10 ° starting from 20 ° is obtained twice, and the final cogging torque is obtained by averaging the two cogging torques. Alternatively, one numerical value may be ignored.

  Also in this embodiment, as described in the first embodiment, the cogging torque at the rotation angle between the detected rotation angles may be obtained by linear interpolation. Further, the rotational speed may be increased, and the cogging torque calculation at a predetermined rotational angle may be performed a plurality of times as in the second embodiment, and averaged.

  As described above, in the present embodiment, since the cogging torque table is created by shifting the detected rotation angle for each rotation, the resolution is improved and the test accuracy is further improved.

  In addition, this invention is not limited to said embodiment, A various deformation | transformation is possible based on the technical idea of this invention.

  For example, in the above-described embodiment, the dynamo for an automobile test apparatus has been described as an example. However, the present invention is not limited to this, and the present invention is related to cogging torque correction of a motor that obtains torque by electromagnetic action. A motor controller can be used.

  In this embodiment, the resolver is used as the rotation angle detection unit. However, the present invention is not limited to this. For example, a pulse sensor or the like may be used.

It is a block diagram of the dynamo for test equipment for vehicles. It is a figure which shows the control which comprises a part of dynamo of FIG. It is a flowchart which shows the cogging torque table preparation method which concerns on 1st Embodiment. 2 is a cogging torque table according to the first embodiment. It is a flowchart which shows the cogging torque table preparation method which concerns on 2nd Embodiment. It is a cogging torque table which concerns on 2nd Embodiment. It is a flowchart which shows the cogging torque table preparation method which concerns on 3rd Embodiment. It is a cogging torque table which concerns on 3rd Embodiment.

Explanation of symbols

12 ... PM motor (equivalent to motor)
13 ... Resolver (corresponding to rotation angle detector)
DESCRIPTION OF SYMBOLS 14 ... Dedicated controller 141 ... Angular acceleration calculation part 142 ... Cogging torque detection circuit (equivalent to a cogging torque calculation part)
143... Control unit (corresponds to table creation unit and interpolation means)
144... Adder (corresponding to signal correction unit)
145 ... Switch 1421 ... Low pass filter 1422 ... Motor inertia 1431 ... CPU (table creation unit, interpolation means)
1432 ... RAM (corresponding to table storage unit)

Claims (5)

A rotation angle detector that detects a rotation angle of a motor that obtains torque by electromagnetic action;
An angular acceleration calculation unit for second-order differentiation of the rotation angle to calculate the angular acceleration of the motor;
A cogging torque calculator for calculating the cogging torque of the motor by multiplying the angular acceleration and the moment of inertia of the rotor of the motor;
Based on the rotation angle detected by the rotation angle detection unit and the cogging torque calculated by the cogging torque calculation unit, the rotation angle and the cogging torque corresponding to the rotation angle correspond to each predetermined rotation angle. A table creation unit for creating a cogging torque table,
A motor control device comprising: a signal correction unit that corrects a signal for driving the motor such that a cogging torque component of the motor is canceled based on the cogging torque table. The motor control device according to claim 1,
The table creation unit is predetermined for each predetermined rotation angle from the first reference rotation angle position of the motor and at least from a second reference position shifted by a predetermined angle from the first reference rotation angle position of the motor. A motor control device that creates a cogging torque table in which the rotation angle and the cogging torque corresponding to the rotation angle correspond to each rotation angle. The motor control device according to claim 1 or 2,
The said table preparation part calculates | requires the said cogging torque corresponding to the said rotation angle in multiple times for every said predetermined rotation angle, and produces the cogging torque table by the average value of the calculated | required some cogging torque. The motor control device according to claim 1, 2 or 3, further comprising:
The cogging torque between the first rotation angle and the next second rotation angle in the cogging torque table is defined as a cogging torque corresponding to the first rotation angle and a cogging torque corresponding to the second rotation angle. A control device for a motor comprising interpolation means for obtaining by linear interpolation. The motor control device according to claim 1, 2, 3, or 4, further comprising:
A motor control device comprising: a low-pass filter that removes a high-frequency component from a signal component of angular acceleration calculated by the angular acceleration calculation unit.

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